On TV this Friday: Hawaii Five-0 and Blue Bloods are back in action, Undercover Boss returns to the trenches, Junior cooks compete in MasterChef, Haven gets bloody and more. Here are 10 programs to keep on your radar.

10 pm Blue Bloods (CBS)| Season 4 premiere: Tensions run high in the Reagan household when Erin releases a suspected cop-killer due to lack of evidence; Jamie meets his new partner (Pretty Little Liars‘ Vanessa Ray). (Get scoop and more scoop!)